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This paper addresses the trajectory tracking control problem for a quadrotor aerial vehicle, equipped with a robotic manipulator (aerial manipulator). The controller is organized in two layers: in the top layer, an inverse kinematics algorithm computes the motion references for the actuated variables; in the bottom layer, a motion control algorithm is in charge of tracking the motion references computed by the upper layer. To the purpose, a model-based control scheme is adopted, where modelling uncertainties are compensated through an adaptive term. The stability of the proposed scheme is proven by resorting to Lyapunov arguments. Finally, a simulation case study is proposed to prove the effectiveness of the approach.

In this paper, a kinematic model of a dual-arm/hand robotic system is derived, which allows the computation of the object position and orientation from the joint variables of each arm and each finger as well as from a suitable set of contact variables. On the basis of this model, a motion planner is designed, where the kinematic redundancy of the system is exploited to satisfy some secondary tasks aimed at ensuring grasp stability and manipulation dexterity without violating physical constraints. To this purpose, a prioritized task sequencing with smooth transitions between tasks is adopted. Afterwards, a controller is designed so as to execute the motion references provided by the planner and, at the same time, achieve a desired contact force exerted by each finger on the grasped object. To this end, a parallel position/force control is considered. A simulation case study has been developed by using the dynamic simulator GRASPIT!, which has been suitably adapted and redistributed.

The goal of this paper is to provide a critical review of the well-known resolved-acceleration technique for the tracking control problem of robot manipulators in the task space. Various control schemes are surveyed and classified according to the type of end-effector orientation error; namely, those based on Euler angles feedback, quaternion feedback, and angle/axis feedback. In addition to the assessed schemes in the literature, an alternative Euler angles feedback scheme is proposed which shows an advantage in terms of avoidance of representation singularities. An insight into the features of each scheme is given, with special concern to the stability properties of those schemes leading to nonlinear closed-loop dynamic equations. A comparison is carried out in terms of computational burden. Experiments on an industrial robot with open control architecture have been carried out, and the tracking performance of the resolved-acceleration control schemes in a case study involving the occurrence of a representation singularity is evaluated. The pros and cons of each scheme are evidenced in a final discussion focused on practical implementation issues.

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